Dev/lamadio/ros2 improvements (#499)

* Several ROS2 improvements

* Update Readme

.gitignore

@@ -5,4 +5,6 @@ node_modules
 # vscode-test
 .vscode-test
 .vscode/c_cpp_properties.json
-.vscode/settings.json
+.vscode/settings.json
+
+vscode-ros-dev.vsix

README.md

@@ -1,32 +1,13 @@
 # Visual Studio Code Extension for ROS
 
-The [Visual Studio Code][vscode] Extension for ROS provides support for [Robot Operating System (ROS)][ros] development. Providing an easier and more stream-lined developer experience.
+The [Visual Studio Code][vscode] Extension for ROS provides support for [Robot Operating System (ROS)][ros] development for ROS1 and ROS2 on Windows and Linux. 
 
-## Getting Started
-
-The extension will automatically start when you open a `catkin` or `colcon` workspace.
-The build system (e.g. catkin_make or catkin build) will automatically be confirmed from the hidden files associated with
-each system.
-The ROS distro will automatically be confirmed from the parent environment, or you will be prompted to select a ROS
-distro if this can't be done automatically.
-
-> NOTE: You must build the catkin workspace at least once before the extension will recognise it.
-
-To start ROS core, you can use the `ROS: Start Core` command from the [Visual Studio Code command pallet](https://code.visualstudio.com/docs/getstarted/userinterface#_command-palette). This command pallet can be accessed by pressing `ctrl` + `shift` + `p`.
-The `ROS Core` indicator in the bottom left will show if the core is currently running, and you can click on this taskbar item to view the status of ROS.
-
-The first time you open a ROS workspace the extension will automatically create build and test tasks and update the
-C++ and Python paths. You can re-run this process later using the appropriate commands.
-
-## Video Walkthrough
-
-[![ROSCON 2019 ROS Extension Talk Video](https://i.vimeocdn.com/video/839088609_640.webp)](https://vimeopro.com/osrfoundation/roscon-2019/video/379127667)
 
 ## Features
 
 * Automatic ROS environment configuration.
 * Allows starting, stopping and viewing the ROS core status.
-* Automatically discover `catkin_make` or `catkin build` build tasks.
+* Automatically create `catkin_make` or `catkin build` build tasks.
 * Create catkin packages using `catkin_create_pkg` script or `catkin create pkg`.
 * Run `rosrun` or `roslaunch`
 * Resolve dependencies with `rosdep` shortcut
@@ -38,34 +19,42 @@ C++ and Python paths. You can re-run this process later using the appropriate co
 * Debug ROS nodes (C++ or Python) [launched from a `.launch` file][debug_support-launch].
 
 ## Commands
-You can access the following commands from the [Visual Studio Code command pallet](https://code.visualstudio.com/docs/getstarted/userinterface#_command-palette).
+
+You can access the following commands from the [Visual Studio Code command pallet](https://code.visualstudio.com/docs/getstarted/userinterface#_command-palette), typically accessed by pressing `ctrl` + `shift` + `p` and typing the command name you'd like to use from the table below.
 
 | Name | Description |
 |---|:---|
 | ROS: Create Catkin Package | Create a catkin package. You can right click on a folder in the explorer to create it in a specific location. |
 | ROS: Create Terminal | Create a terminal with the ROS environment. |
-| ROS: Show Core Status | Open a detail view showing ROS core runtime status. |
-| ROS: Start Core | Start ROS core. |
-| ROS: Stop Core | Terminate ROS core. |
-| ROS: Update C++ Properties | Update the C++ include path to include ROS. |
-| ROS: Update Python Path | Update the Python path to include ROS. |
-| ROS: Preview URDF | Preview URDF and Xacro files. Updates after changes are saved. |
+| ROS: Show Status | Open a detail view showing ROS core runtime status. |
+| ROS: Start | Start ROS1 core or ROS2 Daemon. |
+| ROS: Stop  | Terminate ROS core or ROS2 Daemon. |
+| ROS: Update C++ Properties | Update the C++ IntelliSense configuration to include ROS and your ROS components. |
+| ROS: Update Python Path | Update the Python IntelliSense configuration to include ROS. |
+| ROS: Preview URDF | Preview URDF and Xacro files. The display will update after the root URDF changes are saved. |
 | ROS: Install ROS Dependencies for this workspace using rosdep | Shortcut for `rosdep install --from-paths src --ignore-src -r -y`. |
 
-## Launch Debugging
-The Visual Studio Code extension for ROS supports launch debugging for ROS 1 and ROS 2 nodes. The VSCode extension currently supports debugging ROS written in Python and C++. The ROS node or nodes to be debugged must be placed in a ROS launch file with the extension `.launch` for ROS1 or ROS2 or with the extension `.py` for ROS2.
+## Tutorials and Walkthroughs
 
-To debug a C++ ROS node, please build your workspace using `RelWithDebInfo` in order to generate debug symbols needed for the C++ debugger:
+| Name | Description |
+|---|:---|
+| [Attaching to a running ROS Node][debug_support-attach] | Learn how to attach VSCode to a running ROS node |
+| [Debugging all ROS Nodes in a launch file ][debug_support-launch] | Learn how to set up VSCode to debug the nodes in a ROS Launch file |
+| [ROSCON 2019 ROS Extension Talk Video](https://vimeopro.com/osrfoundation/roscon-2019/video/379127667) | Walkthrough of VSCode from ROSCon 2019|
+
+
+## Getting Started
+
+The VSCode ROS extension will attempt to detect and automatically configure the workspace for the appropriate ROS Distro.
+
+The extension will automatically start when you open a `catkin` or `colcon` workspace.
+The build system (e.g. catkin_make or catkin build) will automatically be confirmed from the hidden files associated with
+each system. 
 
-**ROS1**
-```bash
-catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo
-```
 
-**ROS2**
-```bash
-colcon build --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
-```
+## Launch Debugging
+
+The Visual Studio Code extension for ROS supports launch debugging for ROS 1 and ROS 2 nodes. The VSCode extension currently supports debugging ROS written in Python and C++. The ROS node or nodes to be debugged must be placed in a ROS launch file with the extension `.launch` for ROS1 or ROS2 or with the extension `.py` for ROS2.
 
 ## Reporting Security Issues
 

package.json

@@ -69,17 +69,17 @@
             },
             {
                 "command": "ros.showCoreStatus",
-                "title": "Show Core Status",
+                "title": "Show Status",
                 "category": "ROS"
             },
             {
                 "command": "ros.startCore",
-                "title": "Start Core",
+                "title": "Start",
                 "category": "ROS"
             },
             {
                 "command": "ros.stopCore",
-                "title": "Stop Core",
+                "title": "Stop",
                 "category": "ROS"
             },
             {

src/build-tool/colcon.ts

@@ -10,7 +10,7 @@ import * as common from "./common";
 import * as rosShell from "./ros-shell";
 
 function makeColcon(command: string, verb: string, args: string[], category?: string): vscode.Task {
-    const task = rosShell.make({type: command, command, args: [verb, '--base-paths', extension.baseDir, ...args]},
+    const task = rosShell.make({type: command, command, args: [verb, '--base-paths', extension.baseDir, `--cmake-args`, `-DCMAKE_BUILD_TYPE=RelWithDebInfo`,...args]},
                                category)
 
     return task;

src/debugger/configuration/resolvers/ros1/launch.ts

@@ -37,38 +37,28 @@ export class LaunchResolver implements vscode.DebugConfigurationProvider {
 
         const delay = ms => new Promise(res => setTimeout(res, ms));
 
-        switch (env.ROS_VERSION.trim()) {
-            case "1": {
-                // Manage the status of the ROS core, starting one if not present
-                // The ROS core will continue to run until the VSCode window is closed
-                if (await rosApi.getCoreStatus() == false) {
-                    console.log("ROS Core is not active, attempting to start automatically");
-                    rosApi.startCore();
-
-                    // Wait for the core to start up to a timeout
-                    const timeout_ms: number = 30000;
-                    const interval_ms: number = 100;
-                    let timeWaited: number = 0;
-                    while (await rosApi.getCoreStatus() == false && 
-                        timeWaited < timeout_ms) {
-                        timeWaited += interval_ms;
-                        await delay(interval_ms);
-                    }
-
-                    console.log("Waited " + timeWaited + " for ROS Core to start");
+        // Manage the status of the ROS core, starting one if not present
+        // The ROS core will continue to run until the VSCode window is closed
+        if (await rosApi.getCoreStatus() == false) {
+            console.log("ROS Core is not active, attempting to start automatically");
+            rosApi.startCore();
 
-                    if (timeWaited >= timeout_ms) {
-                        throw new Error('Timed out (' + timeWaited / 1000 + ' seconds) waiting for ROS Core to start. Start ROSCore manually to avoid this error.');
-                    }
-                }
-                break;
+            // Wait for the core to start up to a timeout
+            const timeout_ms: number = 30000;
+            const interval_ms: number = 100;
+            let timeWaited: number = 0;
+            while (await rosApi.getCoreStatus() == false && 
+                timeWaited < timeout_ms) {
+                timeWaited += interval_ms;
+                await delay(interval_ms);
             }
-            case "2": {
-                // TODO(#431), support starting the ROS2 daemon automatically
-                break;
+
+            console.log("Waited " + timeWaited + " for ROS Core to start");
+
+            if (timeWaited >= timeout_ms) {
+                throw new Error('Timed out (' + timeWaited / 1000 + ' seconds) waiting for ROS Core to start. Start ROSCore manually to avoid this error.');
             }
         }
-
 
         const rosExecOptions: child_process.ExecOptions = {
             env: await extension.resolvedEnv(),

src/debugger/configuration/resolvers/ros2/launch.ts

@@ -15,6 +15,7 @@ import * as vscode from "vscode";
 import * as extension from "../../../../extension";
 import * as requests from "../../../requests";
 import * as utils from "../../../utils";
+import { rosApi } from "../../../../ros/ros";
 
 const promisifiedExec = util.promisify(child_process.exec);
 
@@ -40,6 +41,30 @@ export class LaunchResolver implements vscode.DebugConfigurationProvider {
             throw new Error("Launch request requires an extension '.py' or '.xml' as target.");
         }
 
+        const delay = ms => new Promise(res => setTimeout(res, ms));
+
+        // Manage the status of the ROS2 Daemon, starting one if not present
+        if (await rosApi.getCoreStatus() == false) {
+            console.log("ROS Daemon is not active, attempting to start automatically");
+            rosApi.startCore();
+
+            // Wait for the core to start up to a timeout
+            const timeout_ms: number = 30000;
+            const interval_ms: number = 100;
+            let timeWaited: number = 0;
+            while (await rosApi.getCoreStatus() == false && 
+                timeWaited < timeout_ms) {
+                timeWaited += interval_ms;
+                await delay(interval_ms);
+            }
+
+            console.log("Waited " + timeWaited + " for ROS2 Daemon to start");
+
+            if (timeWaited >= timeout_ms) {
+                throw new Error('Timed out (' + timeWaited / 1000 + ' seconds) waiting for ROS2 Daemon to start. Start ROS2 Daemon manually to avoid this error.');
+            }
+        }
+
         const rosExecOptions: child_process.ExecOptions = {
             env: {
                 ...await extension.resolvedEnv(),
@@ -144,7 +169,7 @@ export class LaunchResolver implements vscode.DebugConfigurationProvider {
                     args: request.arguments,
                     environment: envConfigs,
                     stopAtEntry: stopOnEntry,
-            };
+                };
                 debugConfig = cppvsdbgLaunchConfig;
             }
 

src/ros/ros2/ros2-monitor.ts

@@ -98,6 +98,12 @@ export class XmlRpcApi {
         this.client = xmlrpc.createClient(getDaemonUri());
     }
 
+    public check() : Promise<boolean> {
+        // the ROS2 CLI doesn't have an API which returns detailed status, 
+        // so we're just using another endpoint to verify it is running
+        return this.methodCall("get_node_names_and_namespaces").then(() => true, () => false);
+    }
+
     public getNodeNamesAndNamespaces() : Promise<any> {
         return this.methodCall("get_node_names_and_namespaces");
     }

src/ros/ros2/ros2.ts

@@ -155,9 +155,9 @@ export class ROS2 implements ros.ROSApi {
         daemon.stopDaemon();
     }
 
-    public getCoreStatus(): Promise<boolean> {
-        // TODO(#431): Core status checking not implemented for ROS2
-        return;
+    public async getCoreStatus(): Promise<boolean> {
+        const ros2cliApi = new ros2_monitor.XmlRpcApi();
+        return ros2cliApi.check();
     }
 
     public rosdep(): vscode.Terminal {